From 1ccd59402eb278f53bad6c4f64496e69c14928d2 Mon Sep 17 00:00:00 2001 From: Florian Pose Date: Thu, 20 Aug 2009 14:43:55 +0200 Subject: [PATCH] Implemented ecrt_master_deactivate() in userspace. --- TODO | 1 - lib/master.c | 10 ++++++++ master/cdev.c | 21 +++++++++++++++ master/ioctl.h | 69 +++++++++++++++++++++++++------------------------- 4 files changed, 66 insertions(+), 35 deletions(-) diff --git a/TODO b/TODO index b79ac5c1..008bc246 100644 --- a/TODO +++ b/TODO @@ -52,7 +52,6 @@ Version 1.5.0: * Implement CompleteAccess for SDO uploads. * Implement identifier parameter for cstruct command. * Implement sync delimiter for cstruct command. -* Implement ecrt_master_deactivate() in userspace. Future issues: diff --git a/lib/master.c b/lib/master.c index 99652bee..93353c99 100644 --- a/lib/master.c +++ b/lib/master.c @@ -335,6 +335,16 @@ int ecrt_master_activate(ec_master_t *master) /*****************************************************************************/ +void ecrt_master_deactivate(ec_master_t *master) +{ + if (ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL) == -1) { + fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno)); + return; + } +} + +/*****************************************************************************/ + void ecrt_master_send(ec_master_t *master) { if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) { diff --git a/master/cdev.c b/master/cdev.c index c1ce6add..af8b5ef8 100644 --- a/master/cdev.c +++ b/master/cdev.c @@ -1648,6 +1648,23 @@ int ec_cdev_ioctl_activate( /*****************************************************************************/ +/** Deactivates the master. + */ +int ec_cdev_ioctl_deactivate( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + ec_cdev_priv_t *priv /**< Private data structure of file handle. */ + ) +{ + if (unlikely(!priv->requested)) + return -EPERM; + + ecrt_master_deactivate(master); + return 0; +} + +/*****************************************************************************/ + /** Send frames. */ int ec_cdev_ioctl_send( @@ -3263,6 +3280,10 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg) if (!(filp->f_mode & FMODE_WRITE)) return -EPERM; return ec_cdev_ioctl_activate(master, arg, priv); + case EC_IOCTL_DEACTIVATE: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_deactivate(master, arg, priv); case EC_IOCTL_SEND: if (!(filp->f_mode & FMODE_WRITE)) return -EPERM; diff --git a/master/ioctl.h b/master/ioctl.h index 9753b31e..de433b6f 100644 --- a/master/ioctl.h +++ b/master/ioctl.h @@ -86,40 +86,41 @@ #define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1a) #define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1b, ec_ioctl_config_t) #define EC_IOCTL_ACTIVATE EC_IOR(0x1c, size_t) -#define EC_IOCTL_SEND EC_IO(0x1d) -#define EC_IOCTL_RECEIVE EC_IO(0x1e) -#define EC_IOCTL_MASTER_STATE EC_IOR(0x1f, ec_master_state_t) -#define EC_IOCTL_APP_TIME EC_IOW(0x20, ec_ioctl_app_time_t) -#define EC_IOCTL_SYNC_REF EC_IO(0x21) -#define EC_IOCTL_SYNC_SLAVES EC_IO(0x22) -#define EC_IOCTL_SC_SYNC EC_IOW(0x23, ec_ioctl_config_t) -#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x24, ec_ioctl_config_t) -#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x25, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x26, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x27, ec_ioctl_add_pdo_entry_t) -#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x28, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x29, ec_ioctl_reg_pdo_entry_t) -#define EC_IOCTL_SC_DC EC_IOW(0x2a, ec_ioctl_config_t) -#define EC_IOCTL_SC_SDO EC_IOW(0x2b, ec_ioctl_sc_sdo_t) -#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2c, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SC_VOE EC_IOWR(0x2d, ec_ioctl_voe_t) -#define EC_IOCTL_SC_STATE EC_IOWR(0x2e, ec_ioctl_sc_state_t) -#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x2f) -#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x20) -#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x31) -#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x32, ec_ioctl_domain_state_t) -#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x33, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x34, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x35, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x36, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x37, ec_ioctl_sdo_request_t) -#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x38, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x39, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ EC_IOW(0x3a, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3b, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3c, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3d, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_DATA EC_IOWR(0x3e, ec_ioctl_voe_t) +#define EC_IOCTL_DEACTIVATE EC_IO(0x1d) +#define EC_IOCTL_SEND EC_IO(0x1e) +#define EC_IOCTL_RECEIVE EC_IO(0x1f) +#define EC_IOCTL_MASTER_STATE EC_IOR(0x20, ec_master_state_t) +#define EC_IOCTL_APP_TIME EC_IOW(0x21, ec_ioctl_app_time_t) +#define EC_IOCTL_SYNC_REF EC_IO(0x22) +#define EC_IOCTL_SYNC_SLAVES EC_IO(0x23) +#define EC_IOCTL_SC_SYNC EC_IOW(0x24, ec_ioctl_config_t) +#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x25, ec_ioctl_config_t) +#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x26, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x27, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x28, ec_ioctl_add_pdo_entry_t) +#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x29, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2a, ec_ioctl_reg_pdo_entry_t) +#define EC_IOCTL_SC_DC EC_IOW(0x2b, ec_ioctl_config_t) +#define EC_IOCTL_SC_SDO EC_IOW(0x2c, ec_ioctl_sc_sdo_t) +#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2d, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SC_VOE EC_IOWR(0x2e, ec_ioctl_voe_t) +#define EC_IOCTL_SC_STATE EC_IOWR(0x2f, ec_ioctl_sc_state_t) +#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x20) +#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x31) +#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x32) +#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x33, ec_ioctl_domain_state_t) +#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x34, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x35, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x36, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x37, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x38, ec_ioctl_sdo_request_t) +#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x39, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3a, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_READ EC_IOW(0x3b, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3c, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3d, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3e, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_DATA EC_IOWR(0x3f, ec_ioctl_voe_t) /*****************************************************************************/